feat(docker): provide modular images for openadkit planning simulator visualizer

.devcontainer/base/devcontainer.json

@@ -2,7 +2,7 @@
   "name": "Autoware",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware-openadk:latest-devel" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel" }
   },
   "remoteUser": "autoware",
   "runArgs": [

.devcontainer/cuda/devcontainer.json

@@ -2,7 +2,7 @@
   "name": "Autoware-cuda",
   "build": {
     "dockerfile": "../Dockerfile",
-    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware-openadk:latest-devel-cuda" }
+    "args": { "BASE_IMAGE": "ghcr.io/autowarefoundation/autoware:latest-devel-cuda" }
   },
   "remoteUser": "autoware",
   "hostRequirements": {

.github/CODEOWNERS

@@ -0,0 +1 @@
+* [email protected] [email protected]

.github/PULL_REQUEST_TEMPLATE/small-change.md

@@ -15,6 +15,10 @@ Not applicable.
 
 Not applicable.
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -18,6 +18,19 @@
 
 <!-- Describe any changed interfaces, such as topics, services, or parameters. -->
 
+### ROS Topic Changes
+
+<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
+<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
+<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
+<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
+
+### ROS Parameter Changes
+
+<!-- | Parameter Name       | Default Value | Update Description                                  | -->
+<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
+<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
+
 ## Effects on system behavior
 
 <!-- Describe how this PR affects the system behavior. -->

.github/actions/docker-build-and-push-openadk/action.yaml

@@ -0,0 +1,201 @@
+name: docker-build-and-push-openadk
+description: ""
+
+inputs:
+  bake-target:
+    description: ""
+    required: true
+  build-args:
+    description: ""
+    required: false
+  tag-prefix:
+    description: ""
+    required: false
+  tag-suffix:
+    description: ""
+    required: false
+  tag-arch:
+    description: ""
+    required: false
+  allow-push:
+    description: ""
+    default: "true"
+    required: false
+
+runs:
+  using: composite
+  steps:
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v2
+
+    - name: Install jq
+      run: |
+        sudo apt-get -y update
+        sudo apt-get -y install jq
+      shell: bash
+
+    - name: Set Docker tags
+      id: set-docker-tags
+      run: |
+        tags=()
+        if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
+            tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
+        fi
+
+        tags+=("{{date 'YYYYMMDD'}}")
+        tags+=("latest")
+        tags+=("latest-${{ inputs.tag-prefix }}")
+
+        # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
+        EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+        echo "tags<<$EOF" >> $GITHUB_OUTPUT
+        echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
+        echo "$EOF" >> $GITHUB_OUTPUT
+      shell: bash
+
+    # openadk modular images meta
+    - name: Docker meta for openadk:base
+      id: meta-base
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-base
+        flavor: |
+          latest=false
+          suffix=-base-${{ inputs.tag-arch }}
+
+    - name: Docker meta for openadk:planning-control
+      id: meta-planning-control
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-planning-control
+        flavor: |
+          latest=false
+          suffix=-planning-control-${{ inputs.tag-arch }}
+
+    - name: Docker meta for openadk:visualizer
+      id: meta-visualizer
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-visualizer
+        flavor: |
+          latest=false
+          suffix=-visualizer-${{ inputs.tag-arch }}
+
+    - name: Docker meta for openadk:simulator
+      id: meta-simulator
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-simulator
+        flavor: |
+          latest=false
+          suffix=-simulator-${{ inputs.tag-arch }}
+
+    - name: Login to GitHub Container Registry
+      if: ${{ github.event_name != 'pull_request' }}
+      uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Build and Push to GitHub Container Registry
+      if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
+      uses: docker/bake-action@v3
+      with:
+        push: ${{ inputs.allow-push == 'true' }}
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
+          ${{ steps.meta-planning-control.outputs.bake-file }}
+          ${{ steps.meta-visualizer.outputs.bake-file }}
+          ${{ steps.meta-simulator.outputs.bake-file }}
+        provenance: false
+        targets: |
+          base
+        set: |
+          ${{ inputs.build-args }}
+
+    - name: Build and Save Artifacts
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      uses: docker/bake-action@v3
+      with:
+        push: false
+        files: |
+          docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
+          ${{ steps.meta-planning-control.outputs.bake-file }}
+          ${{ steps.meta-visualizer.outputs.bake-file }}
+          ${{ steps.meta-simulator.outputs.bake-file }}
+        provenance: false
+        set: |
+          ${{ inputs.build-args }}
+          base.output=type=docker,dest=/tmp/base.tar
+          planning-control.output=type=docker,dest=/tmp/planning-control.tar
+          visualizer.output=type=docker,dest=/tmp/visualizer.tar
+          simulator.output=type=docker,dest=/tmp/simulator.tar
+
+    - name: Upload Artifact - base
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-base
+      uses: actions/upload-artifact@v4
+      with:
+        name: base-image${{ inputs.tag-suffix }}
+        path: /tmp/base.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - planning-control
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-planning-control
+      uses: actions/upload-artifact@v4
+      with:
+        name: planning-control-image${{ inputs.tag-suffix }}
+        path: /tmp/planning-control.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - visualizer
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-visualizer
+      uses: actions/upload-artifact@v4
+      with:
+        name: visualizer-image${{ inputs.tag-suffix }}
+        path: /tmp/visualizer.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Upload Artifact - simulator
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: artifact-upload-step-simulator
+      uses: actions/upload-artifact@v4
+      with:
+        name: simulator-image${{ inputs.tag-suffix }}
+        path: /tmp/simulator.tar
+        retention-days: 7
+        compression-level: 6
+        overwrite: true
+        if-no-files-found: error
+
+    - name: Output artifact URLs
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
+      id: output-artifact-urls
+      run: |
+        echo 'base URL ${{ steps.artifact-upload-step-base.outputs.artifact-url }}'
+        echo 'planning-control URL ${{ steps.artifact-upload-step-planning-control.outputs.artifact-url }}'
+        echo 'visualizer URL ${{ steps.artifact-upload-step-visualizer.outputs.artifact-url }}'
+        echo 'simulator URL ${{ steps.artifact-upload-step-simulator.outputs.artifact-url }}'
+      shell: bash

.github/actions/docker-build-and-push/action.yaml

@@ -14,6 +14,9 @@ inputs:
   tag-suffix:
     description: ""
     required: false
+  tag-arch:
+    description: ""
+    required: false
   allow-push:
     description: ""
     default: "true"
@@ -59,7 +62,7 @@ runs:
         bake-target: docker-metadata-action-prebuilt
         flavor: |
           latest=false
-          suffix=-prebuilt${{ inputs.tag-suffix }}
+          suffix=-prebuilt${{ inputs.tag-suffix }}-${{ inputs.tag-arch }}
 
     - name: Docker meta for devel
       id: meta-devel
@@ -70,10 +73,9 @@ runs:
         bake-target: docker-metadata-action-devel
         flavor: |
           latest=false
-          suffix=-devel${{ inputs.tag-suffix }}
+          suffix=-devel${{ inputs.tag-suffix }}-${{ inputs.tag-arch }}
 
     - name: Docker meta for runtime
-      if: ${{ github.event_name == 'workflow_dispatch' }} || ${{ (github.event_name == 'push' && github.ref_type == 'tag') }}
       id: meta-runtime
       uses: docker/metadata-action@v4
       with:
@@ -82,7 +84,7 @@ runs:
         bake-target: docker-metadata-action-runtime
         flavor: |
           latest=${{ github.event_name == 'push' && github.ref_type == 'tag' }}
-          suffix=-runtime${{ inputs.tag-suffix }}
+          suffix=-runtime${{ inputs.tag-suffix }}-${{ inputs.tag-arch }}
 
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
@@ -92,31 +94,15 @@ runs:
         username: ${{ github.repository_owner }}
         password: ${{ github.token }}
 
-    - name: Build and Push - prebuilt and devel
-      if: ${{ (github.event_name == 'push' && github.ref_type == 'branch') || github.event_name == 'schedule' }}
+    - name: Build and Push to GitHub Container Registry
+      if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
       uses: docker/bake-action@v3
       with:
         push: ${{ inputs.allow-push == 'true' }}
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
           ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-devel.outputs.bake-file }}
-        targets: |
-          prebuilt
-          devel
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
-
-    - name: Build and Publish to GitHub Container Registry
-      if: ${{ ( github.event_name == 'push' && github.ref_type == 'tag' ) || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
-      uses: docker/bake-action@v3
-      with:
-        push: true
-        files: |
-          docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
         set: |
@@ -129,8 +115,8 @@ runs:
         push: false
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
         set: |
@@ -176,14 +162,10 @@ runs:
         if-no-files-found: error
 
     - name: Output artifact URLs
+      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
       id: output-artifact-urls
       run: |
         echo 'prebuilt URL ${{ steps.artifact-upload-step-prebuilt.outputs.artifact-url }}'
         echo 'devel URL ${{ steps.artifact-upload-step-devel.outputs.artifact-url }}'
         echo 'runtime URL ${{ steps.artifact-upload-step-runtime.outputs.artifact-url }}'
       shell: bash
-
-    - name: Show ccache stats
-      run: |
-        ccache -s
-      shell: bash

.github/workflows/build-main-self-hosted.yaml → .github/workflows/build-main-arm64.yaml

@@ -1,4 +1,4 @@
-name: build-main-self-hosted
+name: build-main-arm64
 
 on:
   schedule:
@@ -13,7 +13,7 @@ on:
         default: tarball
 
 jobs:
-  build-main-self-hosted:
+  build-main-arm64:
     runs-on: [self-hosted, linux, ARM64]
     strategy:
       fail-fast: false
@@ -51,9 +51,9 @@ jobs:
           fi
 
       - name: Build 'autoware-universe'
-        uses: ./.github/actions/docker-build-and-push
+        uses: ./.github/actions/docker-build-push
         with:
-          bake-target: autoware-openadk
+          bake-target: autoware
           build-args: |
             *.platform=linux/arm64
             *.args.ROS_DISTRO=${{ env.rosdistro }}

.github/workflows/build-main.yaml

@@ -46,9 +46,9 @@ jobs:
           fi
 
       - name: Build 'autoware-universe'
-        uses: ./.github/actions/docker-build-and-push
+        uses: ./.github/actions/docker-build-push
         with:
-          bake-target: autoware-openadk
+          bake-target: autoware
           build-args: |
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}